CN105297623A - Rotation-controlled high altitude cable robot climbing mechanism - Google Patents
Rotation-controlled high altitude cable robot climbing mechanism Download PDFInfo
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- CN105297623A CN105297623A CN201510726052.1A CN201510726052A CN105297623A CN 105297623 A CN105297623 A CN 105297623A CN 201510726052 A CN201510726052 A CN 201510726052A CN 105297623 A CN105297623 A CN 105297623A
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- roller
- robot
- climbing device
- driven unit
- robot climbing
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Abstract
The invention discloses a rotation-controlled high altitude cable robot climbing mechanism. The rotation-controlled high altitude cable robot climbing mechanism comprises three driving components and obstacle sensing devices, wherein the obstacle sensing devices are fixedly arranged at the tops and/or bottoms of the three driving components; each driving component comprises two rollers; the two rollers in each driving component are driving wheels; each roller is conical; one side, in contact with a cable, of each roller, is provided with a roller frame; and a plurality of rolling columns are uniformly arranged in a circumferential direction of each roller frame. After the structure is adopted, a robot climbs when rotating in the same direction; the robot does not climb and rotates around the center of the cable at an angular velocity in a controllable way when rotating in a reverse direction. In addition, during climbing cables with different outer diameters, the posture of the mechanism is invariable, can keep constant spring force, can adapt to different cable diameters and shows strong obstacle crossing capacity. Meanwhile, the rotation-controlled high altitude cable robot climbing mechanism disclosed by the invention has the advantages of small part number, compact structure, light weight and convenient control and mounting.
Description
Technical field
The present invention relates to a kind of cable-stayed bridge cable measuring robots, specifically, relate to a kind of overhead calbe robot climbing device of robot, particularly a kind of rotary steerable for long-span cablestayed bridges drag-line or other high-altitude bar class, the fault detect of power line class formation.
Background technology
The robot of prior art is all that rotary freedom is uncontrollable, therefore can not complete whole external cylindrical surface and detect.
In addition, existing robot mostly complex structure, weight is large, and climbing ability is not strong, and obstacle climbing ability is not strong yet; Adjust trouble when adapting to different tube diameters, as when caliber is different, the attitude of mechanism is different, and the extended length of spring is different, and for guarantee roller compression power is constant, need often to change spring, adjustment quite bothers.
In addition, cable is due to Long-Time Service, and bad environments, surface protecting layer often occurs breakage, causes inner wire to disconnect and sticks up.Climbing robot, very easily being tangled through these obstacles, is forced to rest on overhead calbe, successfully cannot returns to ground.And climbing robot rests on overhead calbe, inherently danger close.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and provides a kind of compact conformation, lightweight, controls easy for installation, and load capacity is strong, and caliber compliance is good, the overhead calbe robot climbing device of the rotary steerable that obstacle climbing ability is strong.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
An overhead calbe robot climbing device for rotary steerable, comprise three driven units of setting triangular in shape, three driven units are respectively: the first driven unit, the second driven unit and the 3rd driven unit; Each driven unit includes two rollers, each roller all can with cable surface pressure tight fit; Two rollers in each driven unit are driving wheel, can in the same way or rotate backward; Each roller is all tapered, and the side that each roller contacts with cable is provided with turning rolls, and each turning rolls is along the circumferential direction evenly provided with several rollers.
Two rollers in described first driven unit are separately positioned on two blocks of vertical supporting plates; Two rollers being positioned at homonymy in second driven unit and the 3rd driven unit are separately positioned on one block of cross binding plate; Every bottom of block vertical supporting plate and the middle part of cross binding plate are hinged.
Two blocks of described cross binding plates are parallel to each other, and are connected by least one support bar.
Two blocks of described vertical supporting plates are arranged in parallel, and are connected by least one support bar.
The taper bus of roller is straight line or camber line.
Roller yawing moment on roller described in both sides is contrary.
Also comprise obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of three driven units.
Described obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation circulus.
Needle-valve described in every root is all coaxially arranged with several spherical point contacts, in switch body, is provided with the ball-and-socket equal with spherical point contacts quantity; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
Described switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends, ball-and-socket is coaxially arranged in inductive switch contiguous block, needle-valve is fixedly connected with elasticity contiguous block, is provided with elastic deformation cavity in each elasticity contiguous block.
After the present invention adopts said structure, there is following Advantageous Effects:
1. two rollers in above-mentioned each driven unit are driving wheel, can in the same way or rotate backward.Therefore, when rotating in same direction, robot climbs; When turned reversely, robot does not climb, rotate around cable center angular velocity, rotary steerable, by to two side wheel rotating speeds and the control turning to change, thus realize the superpositions of two motions of climbing and rotating, and then realize the detection of whole external cylindrical surface, detect more comprehensively complete, have great importance.Meanwhile, number of parts is few, and compact conformation is lightweight, controls easy for installation.
2. to be suitable for ability strong for caliber: adapt to different calibers by the spacing adjusting two rollers in each driven unit, in the adjustable range of mechanism, cable and roller center distance remain unchanged.Namely climb various outer diameter cable time, the attitude of mechanism is constant, can keep-spring power invariable, this point for stable climb particularly important.
3. obstacle climbing ability is strong: when cable surface protecting layer occurs damaged, during as inner wire disconnection tilting, is easy to robot to tangle, makes it rest on high-altitude and can not return to ground.In the application, in each driven unit, two rollers are provided separately, centre does not directly connect, very large space is reserved between two corresponding rollers, this space strides across being conducive to the steel wire sticked up, and the obstacle such as steel wire of sticking up of pair of rollers, also there is roll extrusion effect, can not be tangled, ground can be returned to smoothly.
4. the setting of above-mentioned obstacle induction installation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detect, detect without dead angle.Meanwhile, the obstacle that any shape encountered by inductive switch all can be triggered delicately, produces alarm switch amount signal.And overall structure is small and exquisite, reliably, lightweight, be conducive to work high above the ground.
Accompanying drawing explanation
Fig. 1 shows the structural representation of the overhead calbe robot climbing device of a kind of rotary steerable of the present invention;
Fig. 2 shows the structural representation of two blocks of cross binding plates and annexation thereof;
Fig. 3 shows the structural representation of two blocks of vertical supporting plates and annexation thereof;
Fig. 4 shows the structural representation of roller;
Fig. 5 shows the structural representation of the turning rolls being provided with roller;
Fig. 6 shows roller and the hinged structural representation of turning rolls;
Fig. 7 shows structural representation during roller obstacle detouring;
Fig. 8 shows overhead calbe robot of the present invention climbing device obstacle climbing ability and analyzes schematic diagram;
Fig. 9 shows the structural representation of the overhead calbe robot climbing device being provided with obstacle induction installation;
Figure 10 shows the structural representation of obstacle induction installation;
Figure 11 shows the structural representation of inductive switch;
Figure 12 shows the cross-sectional view of inductive switch;
Figure 13 shows structural representation when two side wheel rotating in same directions climb;
Figure 14 shows structural representation when two side wheels rotate backward rotation;
Figure 15 shows structural representation during cable face of cylinder detection in prior art;
Figure 16 shows structural representation during cable periphery detection in the application.
Wherein have:
1. the first driven unit; 11. vertical supporting plates;
2. the second driven unit; 21. cross binding plates;
3. the 3rd driven unit;
4. roller; 41. turning rollss; 42. rollers;
5. support bar;
6. obstacle induction installation;
61. arcuate probe; 62. needle-valves; 621. arc shaped contact; 63. inductive switch contiguous blocks; 631. ball-and-socket; 64. elasticity contiguous blocks; 641. elastic deformation cavitys; 65. supports;
7. tilt steel wire.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete better embodiment, the present invention is further detailed explanation.
As shown in Fig. 1 and Fig. 9, a kind of overhead calbe robot climbing device of rotary steerable, comprises three driven units and obstacle induction installation 6, also can according to actual needs, induction installation 6 of not placing obstacles.
Three driven unit settings triangular in shape, three driven units are respectively: the first driven unit 1, second driven unit 2 and the 3rd driven unit 3.
Each driven unit includes two rollers 4, each roller 4 all can with cable surface pressure tight fit.Preferably, make roller compression on cable surface by spring, spring provides the internal force of whole climbing device.
Two rollers 4 in above-mentioned first driven unit 1 are separately positioned on two blocks of vertical supporting plates 11.As shown in Figure 3, two blocks of vertical supporting plates 11 are preferably arranged in parallel, and are connected by least one support bar 5.
Two rollers 4 being positioned at homonymy in second driven unit 2 and the 3rd driven unit 3 are separately positioned on one block of cross binding plate 21.As shown in Figure 2, arranged in parallel between two blocks of cross binding plates 21, and be connected by least one support bar 5, be preferably two.
The two ends of above-mentioned every root support bar 5 and vertical supporting plate 11 or cross binding plate 2 can be hinged, also can for being fixedly connected with.
The bottom of every block vertical supporting plate 11 is hinged with the middle part of corresponding cross binding plate 21, certainly, also can be fixedly connected with.
In addition, the support bar 5 in each driven unit all coaxially can be arranged with two rollers.Now, the two ends of every root support bar 5 are hinged with corresponding roller 4 respectively.Also namely, support bar 5 do not affect two rollers in driven unit in the same way or rotate backward.
Further, each roller 4 is all preferably tapered, and the taper bus of roller is straight line or camber line.
As shown in Figure 4, Figure 5 and Figure 6, the side that each roller 4 contacts with cable is provided with turning rolls 41, and each turning rolls 41 is along the circumferential direction evenly provided with several rollers 42.Each roller 42 preferably and turning rolls 41 be hinged.
In addition, in Fig. 4 and Fig. 5, A is the angle of two rollers 42 on diagram plane of projection, the angle that B for the roller conical surface is, and C is the angle on diagram plane of projection between roller 42 and turning rolls radial direction.
Roller yawing moment on two side wheels is contrary, and deflection angle can be the same or different.
Two rollers 4 in each driven unit are driving wheel, can in the same way or rotate backward.
As shown in figure 13, the synchronized in the same way driving of two side wheels, roller counter roller frame is now static, then robot realizes speed V and climbs.
As shown in figure 14, the reverse constant speed of two side wheels, now left and right sides roller counter roller frame angular velocity rotates, and robot does not climb, and rotates around cable center angular velocity.
In figure, ω 0 is the velocity of rotation of robot relative to cable, and ω 1 is the rotating speed of turning rolls, and ω 2 is the rotating speed of roller relative to turning rolls, and V is climbing speed.
As shown in figure 15, prior art (even if joining multiple probe), uncontrollable owing to rotating, therefore only can realize the detection of straight line.
As shown in figure 16, and the present invention is due to rotary steerable, can realize the detection of whole external cylindrical surface.By two side wheel rotating speeds, with the change turned to, the superposition of two motions of climbing and rotating can be realized, and then realize the detection of whole external cylindrical surface, detect more comprehensively complete, have great importance.
In addition, cable surface protecting layer occurs damaged, and having inner wire time serious can disconnect, and sticks up, and is easy to robot to tangle, and makes it rest on high-altitude and can not return to ground.
In the application, left and right sides roller is provided separately, and middle without being interconnected, reserve very large space between two rollers, this space may be used for passing through of obstacle.
As shown in Figure 7 and Figure 8, cable is except with except 4 of roller contact, there is the space that distance is " H " in above-below direction distance frame, there is the space that distance is " W " in left and right directions and frame, be convenient to stride across and tilt steel wire 7, when roller encounters tilting steel wire 7 obstacle such as grade, then there is roll extrusion effect, generally can not be tangled, so this case technical scheme can not exist the problem tangled by tilting steel wire, ground can be returned to smoothly.
Above-mentioned obstacle induction installation 6 can be fixedly installed on the top of three driven units, also can be arranged on the bottom of three driven units, also can be arranged on top and the bottom of three driven units simultaneously.
As shown in Figure 10, Figure 11 and Figure 12, obstacle induction installation 6 comprises at least two inductive switches and a support, and the quantity of inductive switch is preferably three.
Several connectors that support comprises annulus and is fixedly installed along annulus circumference, inductive switch is preferably fixed on annulus.The other end of connector is fixed on climbing robot.
Each inductive switch includes probe and switch body.
Probe has the following two kinds preferred embodiment.
Embodiment 1: every root probe comprises one section of arcuate probe and a needle-valve.
Embodiment 2: every root probe comprises one section of arcuate probe and two needle-valves arranged in parallel.
As replacement, the quantity of needle-valve can also be more than 3 or 3, all within the protection domain of the application.
One end of above-mentioned every root needle-valve is fixedly connected with arcuate probe, and the top of preferred needle-valve is fixedly connected with the middle part of arcuate probe.
The other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection.
Above-mentioned arcuate probe is all coaxially arranged, and can enclose formation circulus.Preferably, the head and the tail of arcuate probe splice mutually, form an annulus.As replacement, also can be only close to each other without splicing relation between the head and the tail of arcuate probe, or arcuate probe decentraction is arranged, but coaxially arrange, have coincidence etc. between the head and the tail of arcuate probe, also all within the protection domain of the application.
Arcuate probe encloses the circulus of formation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detect, detect without dead angle.
Every root needle-valve is all coaxially arranged with several spherical point contacts, is preferably two.
Switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends.Elastic deformation cavity is preferably provided with in each elasticity contiguous block.
The ball-and-socket equal with spherical point contacts quantity is coaxially arranged with in inductive switch contiguous block; The volume of ball-and-socket is greater than the volume of spherical point contacts.Therefore, when inductive switch does not touch obstacle, spherical point contacts can be positioned at the center of ball-and-socket, and does not contact with ball-and-socket.
When spherical point contacts contacts with ball-and-socket any point, all conductings of energy touch switch body breaker in middle amount signal.
Above-mentioned needle-valve is fixedly connected with elasticity contiguous block, the elastomeric bearing that can carry out floating between needle-valve with inductive switch contiguous block is connected, the motion of 6 degree of freedom in energy implementation space under the elastomeric bearing effect of elasticity contiguous block, this guarantees probe when touching the obstacle of arbitrary shape at an arbitrary position, spherical point contacts can contact with the ball-and-socket of any attitude with inductive switch contiguous block inside at an arbitrary position, produces on-off model.
More than describe the preferred embodiment of the present invention in detail; but the present invention is not limited to the detail in above-mentioned embodiment, within the scope of technical conceive of the present invention; can carry out multiple equivalents to technical scheme of the present invention, these equivalents all belong to protection scope of the present invention.
Claims (10)
1. an overhead calbe robot climbing device for rotary steerable, is characterized in that: three driven units comprising setting triangular in shape, and three driven units are respectively: the first driven unit, the second driven unit and the 3rd driven unit; Each driven unit includes two rollers, each roller all can with cable surface pressure tight fit; Two rollers in each driven unit are driving wheel, can in the same way or rotate backward; Each roller is all tapered, and the side that each roller contacts with cable is provided with turning rolls, and each turning rolls is along the circumferential direction evenly provided with several rollers.
2. the overhead calbe robot climbing device of rotary steerable according to claim 1, is characterized in that: two rollers in described first driven unit are separately positioned on two blocks of vertical supporting plates; Two rollers being positioned at homonymy in second driven unit and the 3rd driven unit are separately positioned on one block of cross binding plate; Every bottom of block vertical supporting plate and the middle part of cross binding plate are hinged.
3. the overhead calbe robot climbing device of rotary steerable according to claim 2, is characterized in that: two blocks of described cross binding plates are parallel to each other, and are connected by least one support bar.
4. the overhead calbe robot climbing device of rotary steerable according to claim 2, is characterized in that: two blocks of described vertical supporting plates are arranged in parallel, and are connected by least one support bar.
5. the overhead calbe robot climbing device of rotary steerable according to claim 1, is characterized in that: the taper bus of each described roller roller is straight line or camber line.
6. the overhead calbe robot climbing device of rotary steerable according to claim 1, is characterized in that: the roller yawing moment on roller described in both sides is contrary.
7. the overhead calbe robot climbing device of rotary steerable according to claim 1, is characterized in that: also comprise obstacle induction installation, and obstacle induction installation is fixedly installed on top and/or the bottom of three driven units.
8. the overhead calbe robot climbing device of rotary steerable according to claim 7, it is characterized in that: described obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation circulus.
9. the overhead calbe robot climbing device of rotary steerable according to claim 8, is characterized in that: needle-valve described in every root is all coaxially arranged with several spherical point contacts, is provided with the ball-and-socket equal with spherical point contacts quantity in switch body; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
10. the overhead calbe robot climbing device of rotary steerable according to claim 9, it is characterized in that: described switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends, ball-and-socket is coaxially arranged in inductive switch contiguous block, needle-valve is fixedly connected with elasticity contiguous block, is provided with elastic deformation cavity in each elasticity contiguous block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510726052.1A CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726052.1A CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
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| CN105297623A true CN105297623A (en) | 2016-02-03 |
| CN105297623B CN105297623B (en) | 2017-02-01 |
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| CN201510726052.1A Active CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106930185A (en) * | 2017-03-30 | 2017-07-07 | 同济大学 | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN109629414A (en) * | 2019-01-31 | 2019-04-16 | 姜自奇 | A kind of bridge sling crawling device |
| CN113665697A (en) * | 2021-08-23 | 2021-11-19 | 上海建冶科技股份有限公司 | Automatic climbing detection device for cable |
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| CN104372737A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Detecting robot for cables of cable-stayed bridges |
| KR20150061262A (en) * | 2013-11-27 | 2015-06-04 | 세종대학교산학협력단 | Apparatus for Defect Detection in Cable of Bridges |
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| JP2002038417A (en) * | 2000-07-27 | 2002-02-06 | Kajima Corp | Self-propelled cable snow removal robot |
| CN201648963U (en) * | 2010-03-18 | 2010-11-24 | 袁柯铭 | Continuous mobile cable robot creeping device |
| CN102621159A (en) * | 2012-04-24 | 2012-08-01 | 重庆大学 | Cable sheath breakage detection device and integrated detection system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106930185A (en) * | 2017-03-30 | 2017-07-07 | 同济大学 | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge |
| CN106930185B (en) * | 2017-03-30 | 2019-10-01 | 同济大学 | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN109629414A (en) * | 2019-01-31 | 2019-04-16 | 姜自奇 | A kind of bridge sling crawling device |
| CN113665697A (en) * | 2021-08-23 | 2021-11-19 | 上海建冶科技股份有限公司 | Automatic climbing detection device for cable |
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| CN105297623B (en) | 2017-02-01 |
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